CN110371110B - Vehicle control method and system and vehicle - Google Patents
Vehicle control method and system and vehicle Download PDFInfo
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- CN110371110B CN110371110B CN201811166844.8A CN201811166844A CN110371110B CN 110371110 B CN110371110 B CN 110371110B CN 201811166844 A CN201811166844 A CN 201811166844A CN 110371110 B CN110371110 B CN 110371110B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000001133 acceleration Effects 0.000 claims description 43
- 238000001514 detection method Methods 0.000 claims description 20
- 241000283070 Equus zebra Species 0.000 description 3
- 230000005764 inhibitory process Effects 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The invention provides a vehicle control method and system and a vehicle. The control method of the vehicle comprises the following steps: detecting whether a pedestrian exists in front of the vehicle; if yes, judging whether the projection condition is met according to the vehicle state; if so, projecting a pedestrian indicating line to the area where the pedestrian is located to guide the pedestrian to pass preferentially; the speed limiting control is carried out on the vehicle while the pedestrian indicating line is projected to the area where the pedestrian is located, so that the vehicle is prevented from accelerating. The control method of the vehicle can project the pedestrian indicating line to guide the pedestrian to pass through the road preferentially when detecting that the pedestrian passes in front of the vehicle and meets the projection condition, and simultaneously performs speed limit control on the vehicle, thereby improving the safety of the vehicle and the pedestrian.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle control method and system and a vehicle.
Background
When the driving intention of a driver is not understood by surrounding pedestrians at a traffic intersection without a traffic sign, a guide line or a zebra crossing or on a common road, sometimes the courtesy behavior of the driver is not easily perceived by the pedestrians in time, and therefore, traffic accidents or traffic jam and other problems may be caused due to the traffic jam of the pedestrians and vehicles.
In the related art, pedestrian and road information and the like can be recognized by a sensor such as a camera or a millimeter wave radar, for example: when a pedestrian is detected in front, the corresponding pedestrian guide mark is projected according to the road condition, but the following problems exist: when the pedestrian guidance sign is projected, it may be caused by a driver's misoperation such as: the accelerator is used as a brake, and pedestrians see that the pedestrian guide mark is passing preferentially, so that traffic accidents can be caused.
Disclosure of Invention
In view of the above, the present invention is directed to a control method of a vehicle. The control method of the vehicle can project the pedestrian indicating line to guide the pedestrian to preferentially pass through the road when the pedestrian passing in front of the vehicle is detected and the projection condition is met, and simultaneously carries out speed limit control on the vehicle, thereby improving the safety of the vehicle and the pedestrian.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a control method of a vehicle, comprising the steps of: detecting whether a pedestrian exists in front of the vehicle; if yes, judging whether the projection condition is met according to the vehicle state; if so, projecting a pedestrian indicating line to the area where the pedestrian is located to guide the pedestrian to pass preferentially; and carrying out speed limit control on the vehicle while projecting a pedestrian indicating line to the area where the pedestrian is located so as to avoid vehicle acceleration.
Further, the determining whether the projection condition is met according to the vehicle state includes: judging whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration; if yes, judging that the projection condition is met.
Further, the judging whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration comprises: judging whether the vehicle speed is less than a preset vehicle speed or not; if yes, further judging whether the vehicle is in a deceleration state according to the vehicle acceleration; if yes, the pedestrian is determined to be avoided.
Further, the method also comprises the following steps: receiving a projection mode set by a user, wherein the projection mode comprises an active type projection mode, a passive type projection mode, an inquiry type projection mode and a prohibited type projection mode, when the projection mode is the active type projection mode, the passive type projection mode or the inquiry type projection mode, a pedestrian indication line is projected to an area where the pedestrian is located in a corresponding projection mode, and when the projection mode is the prohibited type projection mode, the pedestrian indication line is not projected to the area where the pedestrian is located.
Further, the method also comprises the following steps: detecting whether the pedestrian is in a detection area; if so, judging that the pedestrian does not pass, continuing to project a pedestrian indicating line to the area where the pedestrian is located, and carrying out speed limit control on the vehicle so as to avoid vehicle acceleration; and if the pedestrian is not in the detection area, determining that the pedestrian passes through, and stopping projecting pedestrian indication lines to the area where the pedestrian is located.
The control method of the vehicle can project the pedestrian indicating line to guide the pedestrian to preferentially pass through the road when detecting that the pedestrian passes in front of the vehicle and meets the projection condition, and simultaneously performs speed limit control on the vehicle, thereby effectively avoiding the acceleration behavior of the vehicle caused by misoperation of a driver, avoiding collision with the pedestrian and improving the safety of the vehicle and the pedestrian.
A second object of the invention is to propose a control system of a vehicle. The system can project pedestrian indicating lines to guide pedestrians to preferentially pass through a road when detecting that pedestrians pass through the front of the vehicle and accord with projection conditions, and meanwhile, speed limit control is carried out on the vehicle, so that the acceleration behavior of the vehicle caused by misoperation of a driver is effectively avoided, collision with the pedestrians is avoided, and the safety of the vehicle and the pedestrians is improved.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a control system of a vehicle, comprising: the detection module is used for detecting whether a pedestrian exists in front of the vehicle; the projection module is used for judging whether a projection condition is met or not according to the vehicle state when the detection module detects that a pedestrian exists in front of the vehicle, and projecting a pedestrian indicating line to an area where the pedestrian is located when the projection condition is met so as to guide the pedestrian to pass preferentially; and the control module is used for carrying out speed limit control on the vehicle while the projection module projects a pedestrian indicating line to the area where the pedestrian is located so as to avoid vehicle acceleration.
Further, the projection module is configured to: judging whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration; if yes, judging that the projection condition is met.
Further, the projection module is configured to: judging whether the vehicle speed is less than a preset vehicle speed or not; if yes, further judging whether the vehicle is in a deceleration state according to the vehicle acceleration; if yes, the pedestrian is determined to be avoided.
Further, the control module is further configured to detect whether the pedestrian is located in a detection area, if so, determine that the pedestrian does not pass through, continue to project a pedestrian indication line to the area where the pedestrian is located through the projection module, and perform speed limit control on the vehicle to avoid acceleration of the vehicle, and if the pedestrian is not located in the detection area, determine that the pedestrian passes through, and stop projecting the pedestrian indication line to the area where the pedestrian is located through the projection module.
Compared with the prior art, the vehicle control system and the vehicle control method have the same advantages, and are not repeated herein.
The third objective of the present invention is to provide a vehicle, which can project a pedestrian indication line to guide a pedestrian to preferentially pass through a road when it is detected that the pedestrian passes in front of the vehicle and meets the projection condition, and perform speed limit control on the vehicle, so as to effectively avoid acceleration behavior of the vehicle caused by misoperation of a driver, avoid collision with the pedestrian, and improve safety of the vehicle and the pedestrian.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle provided with a control system of the vehicle as described in any one of the above embodiments.
The control system of the vehicle and the vehicle has the same advantages compared with the prior art, and the detailed description is omitted.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the invention;
FIG. 2 is a perspective view of a right-side pedestrian crossing a road showing an indicator line according to an embodiment of the present invention;
FIG. 3 is a perspective view of a left pedestrian crossing a road showing an indicator line according to an embodiment of the present invention;
FIG. 4 is a perspective view of an indicator line for a pedestrian on two sides crossing a road according to an embodiment of the present invention;
FIG. 5 is a schematic representation of left-side pedestrian indicating lines during a crossroad according to one embodiment of the present invention;
FIG. 6 illustrates an exemplary embodiment of an indicator line projection control logic;
fig. 7 is a block diagram of a control system of a vehicle according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a flowchart of a control method of a vehicle according to one embodiment of the invention.
As shown in fig. 1, a control method of a vehicle according to one embodiment of the present invention includes the steps of:
s101: whether a pedestrian is in front of the vehicle is detected.
Whether a pedestrian exists in front of the vehicle can be detected through a sensor for detecting the pedestrian and a distance sensor arranged on the vehicle, the position of the pedestrian in front of the vehicle and the distance between the pedestrian and the vehicle are calculated through corresponding algorithms, and whether existing guide lines such as road signs, zebra crossings and the like exist in front can be detected through the sensor.
Among these, sensors for detecting pedestrians include, but are not limited to: camera, millimeter wave radar, laser radar. Of course, ultrasonic radar may also be used to detect pedestrians under certain conditions.
S102: if yes, judging whether the projection condition is met according to the vehicle state.
In a specific example, after a pedestrian is detected in front of the vehicle, the vehicle speed and the vehicle acceleration are further detected to judge whether the pedestrian is avoided, and if so, the projection condition is judged to be met.
The vehicle speed can be obtained by converting the wheel speed detected by the wheel speed sensor, and of course, the vehicle speed can also be directly detected by the speed sensor. The vehicle acceleration may be calculated from the real-time vehicle speed.
The vehicle acceleration is positive when the vehicle is running with acceleration, and the vehicle acceleration is negative when the vehicle is running with deceleration.
Whether dodge the pedestrian is judged according to speed of a vehicle and vehicle acceleration, including: judging whether the vehicle speed is less than a preset vehicle speed or not; if yes, further judging whether the vehicle is in a deceleration state according to the acceleration of the vehicle; if yes, the pedestrian is determined to be avoided.
It should be understood that when a driver controls a brake pedal and an accelerator pedal, the vehicle can generate an acceleration and deceleration process, and if the vehicle speed of the driver is too high and no obvious deceleration operation is performed, namely the vehicle acceleration is positive, it indicates that the driver does not want to avoid pedestrians at the moment, namely the projection condition is not met; if the vehicle speed of the driver is low, such as less than the preset vehicle speed, and the vehicle acceleration is negative, the intention of the driver to give the pedestrian a gift at the moment is indicated, and the projection condition is determined to be met.
Note that the predetermined vehicle speed may be set to about 20km/h in advance, that is: when the vehicle speed is high, such as higher than a predetermined vehicle speed, even if the vehicle acceleration is negative, it is likely that the driver does not want to give a gift to the pedestrian but appropriately decelerates to pass. Therefore, only in the case where the vehicle speed is low and the vehicle acceleration is negative, it is highly likely that the driver intentionally gives a courtesy to the pedestrian.
S103: if yes, a pedestrian indicating line is projected to the area where the pedestrian is located so as to guide the pedestrian to pass preferentially.
Generally, a vehicle will not project a pedestrian indication line when approaching a pedestrian if the driver intends to give a courtesy to the pedestrian. Therefore, in a specific example, after the vehicle determines that the driver intentionally gives a courtesy to the pedestrian, that is, the vehicle meets the projection condition, it may be further determined whether the distance between the pedestrian and the vehicle is within the projection range, and if so, a pedestrian indication line crossing the road surface is projected to the front of the pedestrian according to the position change of the pedestrian to guide the pedestrian to pass preferentially. Namely: when the distance between the pedestrian and the vehicle is within the projection range (such as 10 meters), the vehicle is relatively close to the pedestrian. Of course, 10 meters is merely exemplary and is not intended to limit the scope of the present invention.
In addition, the projection of the indication lines needs to be performed to the area where the pedestrian is located according to a projection mode set by a user, the projection mode includes an active type projection mode, a passive type projection mode, an inquiry type projection mode and an inhibition type projection mode, when the projection mode is the active type projection mode, the passive type projection mode or the inquiry type projection mode, the pedestrian indication lines are projected to the area where the pedestrian is located in a corresponding projection mode, and when the projection mode is the inhibition type projection mode, the pedestrian indication lines are not projected to the area where the pedestrian is located.
When the projection mode is an active projection mode, projection is carried out when the intention of the driver is to avoid pedestrians, namely the projection condition is met, when the projection mode is a passive projection mode, projection is carried out when the intention of the driver is to avoid pedestrians and the number of projection times is less than the preset number of projection times, when the projection mode is an inquiry projection mode, projection is carried out after the intention of the driver is to avoid pedestrians and the driver agrees to the projection, and when the projection mode is a forbidden projection mode, projection is forbidden.
As shown in fig. 6, the indicator line projection control logic, namely: when the driver sets the projection mode to be an active type, as long as the function is started and the triggering condition is met, the pedestrians can be guided by the indicating lines; when the projection mode is a passive type, in the process from start to stop in the current driving, even if the function is started, only limited times of projection are performed when the trigger condition is met, for example: setting the preset projection times as n times, projecting the first n times according with the triggering condition, and closing the function after the projection times exceed the n times; when the projection mode set by the driver is an inquiry type, when the condition that the projection mode is matched with the trigger condition is judged each time, inquiring whether the driver performs projection or not by voice or in a mode of asking questions by a display, and performing projection according to the answer of the driver; when the projection mode is the inhibition type, neither projection nor inquiry is made.
Wherein the triggering conditions are as follows: the vehicle speed is lower than the preset vehicle speed and the vehicle is in a deceleration state; detecting that a pedestrian exists in front of the vehicle and the distance between the pedestrian and the vehicle is within a projection range; the projection mode set by the driver is not a prohibition type.
S104: the speed limiting control is carried out on the vehicle while the pedestrian indicating line is projected to the area where the pedestrian is located, so that the vehicle is prevented from accelerating.
When the pedestrian indicating line is projected to the area where the pedestrian is located, the vehicle indicates that the pedestrian preferentially passes through the vehicle, and at the moment, the speed limit control is carried out on the vehicle, so that the condition that the vehicle collides with the pedestrian due to acceleration and danger is caused is avoided.
It will be appreciated that during the slow forward travel of the vehicle at the defined speed, the indicator line will be adjusted accordingly as the vehicle moves to ensure that it is always directly in front of the pedestrian until the pedestrian is out of the projected range.
When the vehicle sensor does not find the road ahead, such as but not limited to a zebra crossing, a road sign, a pedestrian guide line, etc., and the projection mode is set to be positive, according to the control method of the vehicle, the specific control strategy is as follows: when a pedestrian P1 walks into the camera field of the vehicle 2 from the right side, the driver decelerates and stops the vehicle to a speed lower than a preset vehicle speed, for example, the preset vehicle speed is 20km/h, and the vehicle is in a deceleration state according to the vehicle acceleration, then the pixel headlights L1 and L2 project an indication line 3 guiding the pedestrian to cross the road to the right front of the pedestrian and indicate the direction, the indication line 3 indicates the direction of left walking for the pedestrian P1 as shown in FIG. 2, indicates that the pedestrian is coursing the pedestrian at the moment, and the driver's intention of the pedestrian is used as a visual human-vehicle interaction, and the vehicle is subjected to speed limit control to avoid vehicle acceleration until the pedestrian safely passes through the road in front; however, if the vehicle speed of the driver at the moment is not lower than the preset vehicle speed, or the camera detects a pedestrian and the driver does not have obvious deceleration operation, the driving intention of the pedestrian is not given to the driver at the moment, the vehicle does not meet the projection condition at the moment, and the vehicle does not carry out projection.
As shown in fig. 3 and 4, the control method of the vehicle may project corresponding direction indicating lines according to the traveling directions of pedestrians on both sides of the road, project direction indicating lines for pedestrians on the right side to walk left, and project direction indicating lines for pedestrians on the left side to walk right. The function can also be used for visual human-vehicle interaction of an automatic driving vehicle in the future, the automatic driving vehicle drives in front to detect that the pedestrian is crossing the road, the automatic driving vehicle decelerates and stops at the moment, a pedestrian indicating line is projected, the automatic driving vehicle informing the pedestrian that the automatic driving vehicle at the moment is giving the pedestrian in good gift, the pedestrian is guided to timely pass through the road, and meanwhile, the speed limit control is carried out on the vehicle.
In addition, the projection mode of the indication lines is dynamic projection, as shown in fig. 5, the indication lines have but not limited to 8 blocks, and the indication lines are sequentially extinguished according to the sequence from 1 to 8, that is: the indication line No. 2 is lighted when the indication line No. 1 is about to go out, and so on, and the indication line is lighted in turn according to the direction that the pedestrian marches to indicate that the pedestrian advances, and the time interval that the indication line is lighted in turn is but not limited to 0.5 second, and according to the reference numeral of the indication line of FIG. 5, the order that the indication line is lighted is: 2345678 → 1345678 → 1245678 → 1235678 → 1234678, i.e. controlling the projected pedestrian indicating line flicker.
Further, whether the pedestrian is in the detection area is detected while the vehicle projects the pedestrian indicating line, if so, the pedestrian is judged not to pass, the pedestrian indicating line is continuously projected to the area where the pedestrian is located, and the vehicle is subjected to speed-limiting control to avoid acceleration of the vehicle; if the pedestrian is not in the detection area, the pedestrian is judged to pass, and then the pedestrian indicating line is stopped from being projected to the area where the pedestrian is.
In a specific example, after the pedestrian smoothly passes through the detection area, the speed limit control of the vehicle can be cancelled, namely, the vehicle can carry out normal acceleration and deceleration operation.
According to the control method of the vehicle, the pedestrian indicating line can be projected to guide the pedestrian to pass through the road preferentially when the pedestrian passing in front of the vehicle is detected and the projection condition is met, and the speed limit control is performed on the vehicle, so that the acceleration behavior of the vehicle caused by misoperation of a driver is effectively avoided, the collision with the pedestrian is avoided, and the safety of the vehicle and the pedestrian is improved.
Fig. 7 is a block diagram of a control system of a vehicle according to an embodiment of the present invention. As shown in fig. 7, a control system 700 of a vehicle according to one embodiment of the present invention includes: a detection module 710, a projection module 720, and a control module 730.
The detection module 710 is used for detecting whether a pedestrian exists in front of the vehicle; the projection module 720 is used for judging whether the projection condition is met according to the vehicle state when the detection module 710 detects that a pedestrian exists in front of the vehicle, and projecting a pedestrian indicating line to the area where the pedestrian is located when the projection condition is met so as to guide the pedestrian to pass preferentially; the control module 730 is used for controlling the speed limit of the vehicle to avoid the vehicle accelerating while the projection module 720 projects the pedestrian indicating line to the area where the pedestrian is located.
In one embodiment of the present invention, the projection module 720 is configured to: judging whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration; if yes, judging that the projection condition is met.
In one embodiment of the present invention, the projection module 720 is configured to: judging whether the vehicle speed is less than a preset vehicle speed or not; if yes, further judging whether the vehicle is in a deceleration state according to the acceleration of the vehicle; if yes, the pedestrian is determined to be avoided.
In an embodiment of the present invention, the control module 730 is further configured to detect whether a pedestrian is located in the detection area, if so, determine that the pedestrian does not pass through, continue to project a pedestrian indication line to the area where the pedestrian is located through the projection module 720, and perform speed limit control on the vehicle to avoid acceleration of the vehicle, and if the pedestrian is not located in the detection area, determine that the pedestrian passes through, and stop projecting the pedestrian indication line to the area where the pedestrian is located through the projection module 720.
According to the control system of the vehicle, the pedestrian indicating lines can be projected to guide pedestrians to pass through the road preferentially when the pedestrians in front of the vehicle are detected to pass through and meet the projection conditions, and the vehicle is subjected to speed limit control, so that the acceleration behavior of the vehicle caused by misoperation of a driver is effectively avoided, the vehicle is prevented from colliding with the pedestrians, and the safety of the vehicle and the pedestrians is improved.
It should be noted that the specific implementation manner of the vehicle control system according to the embodiment of the present invention is similar to the specific implementation manner of the vehicle control method according to the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not repeated here in order to reduce redundancy.
Further, an embodiment of the invention discloses a vehicle provided with the control system of the vehicle as in any one of the above embodiments. This vehicle can be detected vehicle the place ahead and have the pedestrian to pass through and throw pedestrian's warning line when according with the projection condition in order to guide the pedestrian to preferentially pass through the road to carry out the speed limit control to the vehicle simultaneously, effectively avoid driver's maloperation and lead to the acceleration behavior of vehicle, avoid colliding with the pedestrian, thereby promoted vehicle and pedestrian's safety.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail in order to reduce redundancy.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A control method of a vehicle, characterized by comprising the steps of:
detecting whether a pedestrian exists in front of the vehicle;
if yes, judging whether the projection condition is met according to the vehicle state;
if so, projecting a pedestrian indicating line to the area where the pedestrian is located to guide the pedestrian to pass preferentially;
the method comprises the steps that speed limit control is carried out on a vehicle while pedestrian indicating lines are projected to an area where a pedestrian is located, so that the vehicle is prevented from accelerating;
receiving a projection mode set by a user, wherein the projection mode includes an active type projection mode, a passive type projection mode, an inquiry type projection mode, and a disabled type projection mode,
when the projection mode is the positive projection mode, the negative projection mode or the inquiry projection mode, a pedestrian indication line is projected to the area where the pedestrian is located in a corresponding projection mode, and when the projection mode is the forbidden projection mode, the pedestrian indication line is not projected to the area where the pedestrian is located.
2. The method according to claim 1, wherein the determining whether the projection condition is satisfied according to the vehicle state includes:
judging whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration;
if yes, judging that the projection condition is met.
3. The method of controlling a vehicle according to claim 2, wherein the determining whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration includes:
judging whether the vehicle speed is less than a preset vehicle speed or not;
if yes, further judging whether the vehicle is in a deceleration state according to the vehicle acceleration;
if yes, the pedestrian is determined to be avoided.
4. The control method of a vehicle according to any one of claims 1 to 3, characterized by further comprising:
detecting whether the pedestrian is in a detection area;
if so, judging that the pedestrian does not pass, continuing to project a pedestrian indicating line to the area where the pedestrian is located, and carrying out speed limit control on the vehicle so as to avoid vehicle acceleration;
and if the pedestrian is not in the detection area, determining that the pedestrian passes through, and stopping projecting pedestrian indication lines to the area where the pedestrian is located.
5. A control system of a vehicle, characterized by comprising:
the detection module is used for detecting whether a pedestrian exists in front of the vehicle;
the projection module is used for judging whether a projection condition is met or not according to the vehicle state when the detection module detects that a pedestrian exists in front of the vehicle, and projecting a pedestrian indicating line to an area where the pedestrian is located when the projection condition is met so as to guide the pedestrian to pass preferentially;
the control module is used for carrying out speed limit control on the vehicle to avoid vehicle acceleration while the projection module projects a pedestrian indicating line to the area where the pedestrian is located;
receiving a projection mode set by a user, wherein the projection mode includes an active type projection mode, a passive type projection mode, an inquiry type projection mode, and a disabled type projection mode,
when the projection mode is the positive projection mode, the negative projection mode or the inquiry projection mode, a pedestrian indication line is projected to the area where the pedestrian is located in a corresponding projection mode, and when the projection mode is the forbidden projection mode, the pedestrian indication line is not projected to the area where the pedestrian is located.
6. The control system of a vehicle of claim 5, wherein the projection module is to:
judging whether to avoid the pedestrian according to the vehicle speed and the vehicle acceleration;
if yes, judging that the projection condition is met.
7. The control system of the vehicle of claim 6, wherein the projection module is configured to:
judging whether the vehicle speed is less than a preset vehicle speed or not;
if yes, further judging whether the vehicle is in a deceleration state according to the vehicle acceleration;
if yes, the pedestrian is determined to be avoided.
8. The control system of the vehicle according to any one of claims 5 to 7, wherein the control module is further configured to detect whether the pedestrian is in a detection area, if so, determine that the pedestrian is not passing, continue to project a pedestrian indication line to the area where the pedestrian is located through the projection module, and perform speed limit control on the vehicle to avoid vehicle acceleration, and if the pedestrian is not in the detection area, determine that the pedestrian has passed through, and stop projecting a pedestrian indication line to the area where the pedestrian is located through the projection module.
9. A vehicle characterized in that a control system of the vehicle according to any one of claims 5-8 is provided.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811166844.8A CN110371110B (en) | 2018-09-30 | 2018-09-30 | Vehicle control method and system and vehicle |
| AU2019348096A AU2019348096B2 (en) | 2018-09-30 | 2019-09-30 | Control method and system for vehicles and vehicle |
| RU2021108513A RU2771535C1 (en) | 2018-09-30 | 2019-09-30 | Method for controlling an automobile, system and automobile |
| PCT/CN2019/109523 WO2020064012A1 (en) | 2018-09-30 | 2019-09-30 | Control method and system for vehicles and vehicle |
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| CN201811166844.8A CN110371110B (en) | 2018-09-30 | 2018-09-30 | Vehicle control method and system and vehicle |
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| CN110371110A CN110371110A (en) | 2019-10-25 |
| CN110371110B true CN110371110B (en) | 2021-08-20 |
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| DE102022122798A1 (en) | 2022-09-08 | 2024-03-14 | Bayerische Motoren Werke Aktiengesellschaft | METHOD AND DEVICE FOR OPERATING AN AUTOMATED MOTOR VEHICLE |
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| CN107651015A (en) * | 2017-08-21 | 2018-02-02 | 宝沃汽车（中国）有限公司 | Aid in method, apparatus, computer-readable recording medium and the vehicle of driving |
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